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Planar motor control method based on trajectory gradient soft constraint

A planar motor and control method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of indistinguishable control effects, reduce the effectiveness of model predictive control, etc., to improve accuracy and reduce position. effect of error

Active Publication Date: 2020-09-15
SHENZHEN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, the current model predictive control methods cannot produce different control effects on different system dynamic behaviors, thereby reducing the effectiveness of model predictive control.

Method used

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  • Planar motor control method based on trajectory gradient soft constraint
  • Planar motor control method based on trajectory gradient soft constraint
  • Planar motor control method based on trajectory gradient soft constraint

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Embodiment Construction

[0036] The present invention provides a planar motor control method, storage medium and terminal equipment based on trajectory gradient soft constraints. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples illustrate. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0037] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other fe...

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Abstract

The invention discloses a planar motor control method based on trajectory gradient soft constraint. The method comprises the steps: determining a position prediction model and a position gradient prediction model of a planar motor based on a state space model of the planar motor; determining a cost function corresponding to the planar motor based on the position prediction model and the position gradient prediction model; determining the control quantity of the planar motor based on the cost function; and acting the control quantity on the planar motor so as to control the planar motor. According to the method, the position gradient constraint term is set in the cost function, so that different system dynamic behaviors can be effectively distinguished through the position gradient constraint term, the model prediction precision is improved, and the position error of the planar motor is reduced.

Description

technical field [0001] The present invention relates to the technical field of planar motors, in particular to a control method, a storage medium and a terminal device of a planar motor based on trajectory gradient soft constraints. Background technique [0002] Planar motors have the advantages of simple structure, easy manufacture, high precision, low cost, and high reliability. They have great application prospects in the fields of integrated circuits and ultra-precision machining. High-precision position control is one of the key technologies of planar motors. Planar motors have strong nonlinearity, strong coupling, and high uncertainty, making high-precision position control difficult. How to design a high-precision position control method suitable for planar motors is one of the key problems that planar motors need to solve urgently. [0003] Model predictive control (Model predictive control, MPC) is an advanced optimization control theory that is widely used in pract...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄苏丹陈龙曹广忠邱洪胡智勇
Owner SHENZHEN UNIV